source: finroc_plugins_composite_ports/internal/tGenericPortType.h @ 28:0d9e9fd957de

//
// You received this file as part of Finroc
// A framework for intelligent robot control
//
// Copyright (C) Finroc GbR (finroc.org)
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License along
// with this program; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
//
//----------------------------------------------------------------------
/*!\file    plugins/composite_ports/internal/tGenericPortType.h
 *
 * \author  Max Reichardt
 *
 * \date    2020-02-07
 *
 * \brief   Contains tGenericPortType
 *
 * \b tGenericPortType
 *
 * Helper port class to realize generic instantiation of port composite interfaces
 *
 */
//----------------------------------------------------------------------
#ifndef __plugins__structure__internal__tGenericPortType_h__
#define __plugins__structure__internal__tGenericPortType_h__

//----------------------------------------------------------------------
// External includes (system with <>, local with "")
//----------------------------------------------------------------------
#include "core/port/tPortFactory.h"
#include "plugins/data_ports/tGenericPort.h"

//----------------------------------------------------------------------
// Internal includes with ""
//----------------------------------------------------------------------
#include "plugins/composite_ports/tInterfaceBase.h"
#include "plugins/composite_ports/internal/type_traits.h"

//----------------------------------------------------------------------
// Namespace declaration
//----------------------------------------------------------------------
namespace finroc
{
namespace composite_ports
{
namespace internal
{

//----------------------------------------------------------------------
// Forward declarations / typedefs / enums
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Class declaration
//----------------------------------------------------------------------
//! Generic port class for port composite interfaces
/*!
 * Helper port class to realize generic instantiation of port composite interfaces
 */
template < int Tprimary_interface_relations, template <typename> class TPortType, typename T, bool Trpc = IsRPCPort<TPortType>::value, bool Tdirection_specified = IsInputPort<TPortType>::value || IsOutputPort<TPortType>::value >
class tGenericPortType : public TPortType<T>
{

//----------------------------------------------------------------------
// Public methods and typedefs
//----------------------------------------------------------------------
public:

  template <typename TParent, typename ... TRest>
  tGenericPortType(const std::string& name, TParent* parent, const TRest&... rest)
  {
    if (!parent->Backend())  // When used for type id extraction
    {
      return;
    }

    tInterfaceBase::tBackend* parent_backend = parent->Backend()->GetBackend(Tprimary_interface_relations);
    if (!parent_backend)
    {
      return;
    }
    static_cast<TPortType<T>&>(*this) = TPortType<T>(name, parent_backend, parent_backend->GetDefaultPortFlags(false), rest...);
  }

//----------------------------------------------------------------------
// Private fields and methods
//----------------------------------------------------------------------
private:

};

template <int Tprimary_interface_relations, template <typename> class TPortType, typename T>
class tGenericPortType<Tprimary_interface_relations, TPortType, T, false, false> : public TPortType<T>
{

//----------------------------------------------------------------------
// Public methods and typedefs
//----------------------------------------------------------------------
public:

  template <typename TParent, typename ... TRest>
  tGenericPortType(const std::string& name, TParent* parent, const TRest&... rest)
  {
    if (!parent->Backend())  // When used for type id extraction
    {
      return;
    }

    tInterfaceBase::tBackend* parent_backend = parent->Backend()->GetBackend(Tprimary_interface_relations);
    if (!parent_backend)
    {
      return;
    }
    core::tPortWrapperBase::tConstructorArguments<data_ports::tPortCreationInfo<T>> creation_info(name, parent_backend, rrlib::rtti::tDataType<T>(), parent_backend->GetDefaultPortFlags(true), rest...);
    assert(creation_info.data_type);

    this->SetWrapped(parent_backend->CreatePort(creation_info, Tprimary_interface_relations));
  }

//----------------------------------------------------------------------
// Private fields and methods
//----------------------------------------------------------------------
private:

};

template <int Tprimary_interface_relations, template <typename> class TPortType, typename T>
class tGenericPortType<Tprimary_interface_relations, TPortType, T, true, false> : public TPortType<T>
{

//----------------------------------------------------------------------
// Public methods and typedefs
//----------------------------------------------------------------------
public:

  static_assert(std::is_base_of<rpc_ports::tRPCInterface, T>::value, "Invalid");

  template <typename TParent, typename ... TRest>
  tGenericPortType(const std::string& name, TParent* parent, const TRest&... rest)
  {
    if (!parent->Backend())  // When used for type id extraction
    {
      return;
    }

    tInterfaceBase::tBackend* parent_backend = parent->Backend()->GetBackend(Tprimary_interface_relations);
    if (!parent_backend)
    {
      return;
    }

    // Create port instance via factory
    core::tFrameworkElementFlags extra_flags = parent_backend->CreateOutputPort(Tprimary_interface_relations) ? (core::tFrameworkElementFlag::OUTPUT_PORT | core::tFrameworkElementFlag::EMITS_DATA) : (core::tFrameworkElementFlag::ACCEPTS_DATA | core::tFrameworkElementFlag::PORT);
    core::tAbstractPortCreationInfo creation_info;
    creation_info.name = name;
    creation_info.parent = parent_backend;
    creation_info.data_type = rrlib::rtti::tType::FindTypeByRtti(typeid(T).name());
    creation_info.flags = parent_backend->GetDefaultPortFlags(true) | extra_flags;
    this->SetWrapped(parent_backend->CreatePort(creation_info, Tprimary_interface_relations));
  }

//----------------------------------------------------------------------
// Private fields and methods
//----------------------------------------------------------------------
private:

};


template <int Tprimary_interface_relations, template <typename> class TPortType, typename T>
class tGenericPortType<Tprimary_interface_relations, TPortType, T, true, true> : public TPortType<T>
{

  static_assert(std::is_base_of<rpc_ports::tRPCInterface, T>::value, "Invalid");

//----------------------------------------------------------------------
// Public methods and typedefs
//----------------------------------------------------------------------
public:

  template <typename TParent, typename ... TRest>
  tGenericPortType(const std::string& name, TParent* parent, TRest&&... rest)
  {
    if (!parent->Backend())  // When used for type id extraction
    {
      return;
    }

    tInterfaceBase::tBackend* parent_backend = parent->Backend()->GetBackend(Tprimary_interface_relations);
    if (!parent_backend)
    {
      return;
    }

    static_cast<TPortType<T>&>(*this) = TPortType<T>(name, parent_backend, parent_backend->GetDefaultPortFlags(false), std::forward<TRest>(rest)...);
  }

//----------------------------------------------------------------------
// Private fields and methods
//----------------------------------------------------------------------
private:

};

//----------------------------------------------------------------------
// End of namespace declaration
//----------------------------------------------------------------------
}
}
}


#endif